248 lines
7.8 KiB
C++
248 lines
7.8 KiB
C++
/**************************************************************************/
|
|
/* rigid_body_3d.h */
|
|
/**************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/**************************************************************************/
|
|
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/**************************************************************************/
|
|
|
|
#ifndef RIGID_BODY_3D_H
|
|
#define RIGID_BODY_3D_H
|
|
|
|
#include "scene/3d/physics/static_body_3d.h"
|
|
|
|
class RigidBody3D : public PhysicsBody3D {
|
|
GDCLASS(RigidBody3D, PhysicsBody3D);
|
|
|
|
public:
|
|
enum FreezeMode {
|
|
FREEZE_MODE_STATIC,
|
|
FREEZE_MODE_KINEMATIC,
|
|
};
|
|
|
|
enum CenterOfMassMode {
|
|
CENTER_OF_MASS_MODE_AUTO,
|
|
CENTER_OF_MASS_MODE_CUSTOM,
|
|
};
|
|
|
|
enum DampMode {
|
|
DAMP_MODE_COMBINE,
|
|
DAMP_MODE_REPLACE,
|
|
};
|
|
|
|
private:
|
|
bool can_sleep = true;
|
|
bool lock_rotation = false;
|
|
bool freeze = false;
|
|
FreezeMode freeze_mode = FREEZE_MODE_STATIC;
|
|
|
|
real_t mass = 1.0;
|
|
Vector3 inertia;
|
|
CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
|
|
Vector3 center_of_mass;
|
|
|
|
Ref<PhysicsMaterial> physics_material_override;
|
|
|
|
Vector3 linear_velocity;
|
|
Vector3 angular_velocity;
|
|
Basis inverse_inertia_tensor;
|
|
real_t gravity_scale = 1.0;
|
|
|
|
DampMode linear_damp_mode = DAMP_MODE_COMBINE;
|
|
DampMode angular_damp_mode = DAMP_MODE_COMBINE;
|
|
|
|
real_t linear_damp = 0.0;
|
|
real_t angular_damp = 0.0;
|
|
|
|
bool sleeping = false;
|
|
bool ccd = false;
|
|
|
|
int max_contacts_reported = 0;
|
|
int contact_count = 0;
|
|
|
|
bool custom_integrator = false;
|
|
|
|
struct ShapePair {
|
|
int body_shape = 0;
|
|
int local_shape = 0;
|
|
bool tagged = false;
|
|
bool operator<(const ShapePair &p_sp) const {
|
|
if (body_shape == p_sp.body_shape) {
|
|
return local_shape < p_sp.local_shape;
|
|
} else {
|
|
return body_shape < p_sp.body_shape;
|
|
}
|
|
}
|
|
|
|
ShapePair() {}
|
|
ShapePair(int p_bs, int p_ls) {
|
|
body_shape = p_bs;
|
|
local_shape = p_ls;
|
|
tagged = false;
|
|
}
|
|
};
|
|
struct RigidBody3D_RemoveAction {
|
|
RID rid;
|
|
ObjectID body_id;
|
|
ShapePair pair;
|
|
};
|
|
struct BodyState {
|
|
RID rid;
|
|
//int rc;
|
|
bool in_tree = false;
|
|
VSet<ShapePair> shapes;
|
|
};
|
|
|
|
struct ContactMonitor {
|
|
bool locked = false;
|
|
HashMap<ObjectID, BodyState> body_map;
|
|
};
|
|
|
|
ContactMonitor *contact_monitor = nullptr;
|
|
void _body_enter_tree(ObjectID p_id);
|
|
void _body_exit_tree(ObjectID p_id);
|
|
|
|
void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
|
|
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
|
|
|
|
void _sync_body_state(PhysicsDirectBodyState3D *p_state);
|
|
|
|
protected:
|
|
void _notification(int p_what);
|
|
static void _bind_methods();
|
|
|
|
void _validate_property(PropertyInfo &p_property) const;
|
|
|
|
GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
|
|
|
|
virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
|
|
|
|
void _apply_body_mode();
|
|
|
|
public:
|
|
void set_lock_rotation_enabled(bool p_lock_rotation);
|
|
bool is_lock_rotation_enabled() const;
|
|
|
|
void set_freeze_enabled(bool p_freeze);
|
|
bool is_freeze_enabled() const;
|
|
|
|
void set_freeze_mode(FreezeMode p_freeze_mode);
|
|
FreezeMode get_freeze_mode() const;
|
|
|
|
void set_mass(real_t p_mass);
|
|
real_t get_mass() const;
|
|
|
|
virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
|
|
|
|
void set_inertia(const Vector3 &p_inertia);
|
|
const Vector3 &get_inertia() const;
|
|
|
|
void set_center_of_mass_mode(CenterOfMassMode p_mode);
|
|
CenterOfMassMode get_center_of_mass_mode() const;
|
|
|
|
void set_center_of_mass(const Vector3 &p_center_of_mass);
|
|
const Vector3 &get_center_of_mass() const;
|
|
|
|
void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
|
|
Ref<PhysicsMaterial> get_physics_material_override() const;
|
|
|
|
void set_linear_velocity(const Vector3 &p_velocity);
|
|
Vector3 get_linear_velocity() const override;
|
|
|
|
void set_axis_velocity(const Vector3 &p_axis);
|
|
|
|
void set_angular_velocity(const Vector3 &p_velocity);
|
|
Vector3 get_angular_velocity() const override;
|
|
|
|
Basis get_inverse_inertia_tensor() const;
|
|
|
|
void set_gravity_scale(real_t p_gravity_scale);
|
|
real_t get_gravity_scale() const;
|
|
|
|
void set_linear_damp_mode(DampMode p_mode);
|
|
DampMode get_linear_damp_mode() const;
|
|
|
|
void set_angular_damp_mode(DampMode p_mode);
|
|
DampMode get_angular_damp_mode() const;
|
|
|
|
void set_linear_damp(real_t p_linear_damp);
|
|
real_t get_linear_damp() const;
|
|
|
|
void set_angular_damp(real_t p_angular_damp);
|
|
real_t get_angular_damp() const;
|
|
|
|
void set_use_custom_integrator(bool p_enable);
|
|
bool is_using_custom_integrator();
|
|
|
|
void set_sleeping(bool p_sleeping);
|
|
bool is_sleeping() const;
|
|
|
|
void set_can_sleep(bool p_active);
|
|
bool is_able_to_sleep() const;
|
|
|
|
void set_contact_monitor(bool p_enabled);
|
|
bool is_contact_monitor_enabled() const;
|
|
|
|
void set_max_contacts_reported(int p_amount);
|
|
int get_max_contacts_reported() const;
|
|
int get_contact_count() const;
|
|
|
|
void set_use_continuous_collision_detection(bool p_enable);
|
|
bool is_using_continuous_collision_detection() const;
|
|
|
|
TypedArray<Node3D> get_colliding_bodies() const;
|
|
|
|
void apply_central_impulse(const Vector3 &p_impulse);
|
|
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
|
|
void apply_torque_impulse(const Vector3 &p_impulse);
|
|
|
|
void apply_central_force(const Vector3 &p_force);
|
|
void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
|
|
void apply_torque(const Vector3 &p_torque);
|
|
|
|
void add_constant_central_force(const Vector3 &p_force);
|
|
void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
|
|
void add_constant_torque(const Vector3 &p_torque);
|
|
|
|
void set_constant_force(const Vector3 &p_force);
|
|
Vector3 get_constant_force() const;
|
|
|
|
void set_constant_torque(const Vector3 &p_torque);
|
|
Vector3 get_constant_torque() const;
|
|
|
|
virtual PackedStringArray get_configuration_warnings() const override;
|
|
|
|
RigidBody3D();
|
|
~RigidBody3D();
|
|
|
|
private:
|
|
void _reload_physics_characteristics();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(RigidBody3D::FreezeMode);
|
|
VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode);
|
|
VARIANT_ENUM_CAST(RigidBody3D::DampMode);
|
|
|
|
#endif // RIGID_BODY_3D_H
|